Consensus learning control for leader-following nonlinear multiagent systems with control delay

Abstract

In this paper, the consensus tracking problem of leader-following nonlinear control time-delay multiagent systems with directed communication topology is addressed. An improved high-order iterative learning control scheme with time-delay is proposed, where the local information between agents is considered. The uniformly global Lipschitz condition is applied to deal with the nonlinear dynamics. Then, a sufficient condition is driven, which guarantees that all the following agents track the trajectory of leader. Also, the convergence of proposed control protocol is analyzed by the norm theory. Finally, two cases are provided to illustrate the validity of theoretical results.